Applyed changes from discussion '[Canfestival-devel] some minor CanFestival build suggestions', https://sourceforge.net/mailarchive/message.php?msg_id=28397766
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/** @defgroup pdo Process Data Object (PDO)
* PDO is a communication object defined by the DPO communication parameter and PDA mapping parameter objects.
* It is an uncomfirmed communication service without protocol overhead.
* @ingroup comobj
*/
#ifndef __pdo_h__
#define __pdo_h__
#include <applicfg.h>
#include <def.h>
#include "can.h"
typedef struct struct_s_PDO_status s_PDO_status;
#include "data.h"
/* Handler for RxPDO event timers : empty function that user can overload */
void _RxPDO_EventTimers_Handler(CO_Data *d, UNS32 pdoNum);
/* Status of the TPDO : */
#define PDO_INHIBITED 0x01
#define PDO_RTR_SYNC_READY 0x01
/** The PDO structure */
struct struct_s_PDO_status {
UNS8 transmit_type_parameter;
TIMER_HANDLE event_timer;
TIMER_HANDLE inhibit_timer;
Message last_message;
};
#define s_PDO_status_Initializer {0, TIMER_NONE, TIMER_NONE, Message_Initializer}
/** definitions of the different types of PDOs' transmission
*
* SYNCHRO(n) means that the PDO will be transmited every n SYNC signal.
*/
#define TRANS_EVERY_N_SYNC(n) (n) /*n = 1 to 240 */
#define TRANS_SYNC_ACYCLIC 0 /* Trans after reception of n SYNC. n = 1 to 240 */
#define TRANS_SYNC_MIN 1 /* Trans after reception of n SYNC. n = 1 to 240 */
#define TRANS_SYNC_MAX 240 /* Trans after reception of n SYNC. n = 1 to 240 */
#define TRANS_RTR_SYNC 252 /* Transmission on request */
#define TRANS_RTR 253 /* Transmission on request */
#define TRANS_EVENT_SPECIFIC 254 /* Transmission on event */
#define TRANS_EVENT_PROFILE 255 /* Transmission on event */
/**
* @brief Copy all the data to transmit in process_var
* Prepare the PDO defined at index to be sent
* *pwCobId : returns the value of the cobid. (subindex 1)
* @param *d Pointer on a CAN object data structure
* @param numPdo The PDO number
* @param *pdo Pointer on a CAN message structure
* @return 0 or 0xFF if error.
*/
UNS8 buildPDO(CO_Data* d, UNS8 numPdo, Message *pdo);
/**
* @ingroup pdo
* @brief Transmit a PDO request frame on the network to the slave.
* @param *d Pointer on a CAN object data structure
* @param RPDOIndex Index of the receive PDO
* @return
* - CanFestival file descriptor is returned upon success.
* - 0xFF is returned if RPDO Index is not found.
* @return 0xFF if error, other in success.
*/
UNS8 sendPDOrequest( CO_Data* d, UNS16 RPDOIndex );
/**
* @brief Compute a PDO frame reception
* bus_id is hardware dependant
* @param *d Pointer on a CAN object data structure
* @param *m Pointer on a CAN message structure
* @return 0xFF if error, else return 0
*/
UNS8 proceedPDO (CO_Data* d, Message *m);
/**
* @brief Used by the application to signal changes in process data
* that could be mapped to some TPDO.
* This do not necessarily imply PDO emission.
* Function iterates on all TPDO and look TPDO transmit
* type and content change before sending it.
* @param *d Pointer on a CAN object data structure
*/
UNS8 sendPDOevent (CO_Data* d);
UNS8 sendOnePDOevent (CO_Data* d, UNS8 pdoNum);
/**
* @ingroup pdo
* @brief Function iterates on all TPDO and look TPDO transmit
* type and content change before sending it.
* @param *d Pointer on a CAN object data structure
* @param isSyncEvent
*/
UNS8 _sendPDOevent(CO_Data* d, UNS8 isSyncEvent);
/**
* @brief Initialize PDO feature
* @param *d Pointer on a CAN object data structure
*/
void PDOInit(CO_Data* d);
/**
* @brief Stop PDO feature
* @param *d Pointer on a CAN object data structure
*/
void PDOStop(CO_Data* d);
/**
* @ingroup pdo
* @brief Set timer for PDO event
* @param *d Pointer on a CAN object data structure
* @param pdoNum The PDO number
*/
void PDOEventTimerAlarm(CO_Data* d, UNS32 pdoNum);
/**
* @ingroup pdo
* @brief Inhibit timer for PDO event
* @param *d Pointer on a CAN object data structure
* @param pdoNum The PDO number
*/
void PDOInhibitTimerAlarm(CO_Data* d, UNS32 pdoNum);
/* copy bit per bit in little endian */
void CopyBits(UNS8 NbBits, UNS8* SrcByteIndex, UNS8 SrcBitIndex, UNS8 SrcBigEndian, UNS8* DestByteIndex, UNS8 DestBitIndex, UNS8 DestBigEndian);
#endif